ドルフィン-3K』`追跡・監視システムの開発
Contents
1.2. 3 4
3. 4 3 5 3 3 KK CRT
4. 5 JAMSTECTR 21 1989 DOLPHIN 3k sea triol RERL TINE DRTR 1 DRTE NN se 8 s 5 6 19 13 SS E De echnol s JRRSTEC 0 et 4 Fig 4 Drawnup tracking chart of the vehicle positions with contour map PC 3 INTE AS DLP3KCM BAS 3K f 10 5 3 K
5. 3 6 JAMSTECTR 21 1989 4 3 K
6. 7 1 3K JAMSTECTR 21 1989 704 63 2 PP 28 25 2 ROV 3K Vol 16 No 5 1988 9 3 4 Kim M Gulick THE PERSONAL COMPUTER A BENEEICIAL TOOL FOR ROV OPERATIONS Proc ROV 83 1988 11 2 315
7. 3K Acoustic Position Tracking and Monitoring System for DOLPHIN 3K Ken ichi TAKAHASHI Mutsuo HATTORI Masao NOMOTO Taro AOKI An acoustic tracking and monitoring system was developed for safe and effec tive operation of the DOLPHIN 3K This system is composed of data processing and displaying devices which provide position information for appropriate oper ational decisions and instructions to vehicle operators and a commander The sys tem provides CRT displays of real time vehicle tracking tether cable monitoring and 3 dimensional positions of the vehicle transponders and the support vessel The system is composed of 2 Personal Computers with input output devices and software which consists of the programs for communication and computation The system was made practically use after the repeated improvement during training operation of the DOLPHIN 3K aboard support vessels KAIYO and NATSUSHIMA during April 1987 to August 1988 1 2 Deep Sea Technology Department 299 Key word acoustic position tracking tether cable monitoring DOLPHIN 3K vehicle tracking ROV operation 1 2000
8. 3 4 309 4 Table 4 Modificative parameters during executing the tracking program 100 2000 mw grid 22 X Y 0 lt X lt 6000 3 Lat Lon 4 _ 6 0 lt Y lt 5000 deg min ON OFF ON OFF
9. 4 2 PC
10. 4 1 2 PC 1 3 1 2 PC RS 232C 2
11. 2 313 3K 5 3 K
12. 3 1 2 2 3K 3KK 3 K 1 3K 1 SSBL 740 Down Link ANN NN RE CR Kr errtrd ny DS ARAN Shh w om NA SNS CK 7 PeX COA NN 14Mbps PC
13. _ b 5 JAMSTECTR 21 1989 w a woo ano
14. 3 1 3 KK JAMSTECTR 21 1989 3 a 1 V Sv DTXY V xv Yv Zy xy x yy ys Svy xy yyv Zy DTZ z r z DSL 2
15. Tsan n Te To Mg Ms T Vs Va V T C RT 3 3 304 3K
16. 3 KK 1987 3 K 3 ea 3 K
17. PC PC CRT CR 2 307 PC 2 INTFL BAS DLP3K BAS
18. PCM 2 301 2 3 KK Table 2 Specifications of an acoustic beacon for Dolphin 3K 15 5 3 7 6 860 mmL kHz 10msec 94dB re 1gbar at lm 10msec 7 4740 60 sec 3 6 104 25 k gf cm 155 mm 22 kg 1 2 kg
19. 5 Photo5 3 dimensional display of the vehicle tracking for off Iime monitor 5 1987 4 1988 8 3 K 314 6
20. 25 3 K 3 3 3 K 302 LED
21. JAMSTECTR 21 1989 3K 3 K 3 K 1987 4 1988 8 3K
22. RS232C 1 1 3K No 1 cr rm ss RS232C 3 1 Na BS ager RT Pc 3 RS232C 2 1 RS232C 2 3 No 2 RS232C 2 1 2 Fig 2 Block diagram of the system 3 Table 3 Source data in data aquisition device Xs 1 FY X 2 Y2 Z2 Vx Vy fV amp TV JAMSTECTR 21 1989 306 3
23. TS 3 K e RSC2 RSC3 f 2 MAPMENU 3 SETPRM 4 TRAXIS XY Ff 5 TRPARM XY Ff 6 DLP3KTR 2 3 K 5 2 DLP3KTR EXE 10 3 3 K Fig 3 Construction of the program for tracking mode Displaying the original map Displaying the map magnified and trimmed 2 Photo 2 Displaying the contour map AMSTECTR 21 1989 308 J UMS 3 CRT
24. y xr YYy 2Z 2 S n T xs Yas Zn 2 n2 SM PT 1 0 0 2 19 9 lt 0 290 0 8 xs a gt OG la Mie 1 WW 8 4ws HH Te Wi TS A 1 Norent el cme sccmecon dooce See000 eRe ddoeotodoey Wi rin Y GR MZ 9 90 Aa ww s ms oee gt odie nie Orta 4 hm SN NN RNN D F 59 49 39 29 9 9 19 29 39 49 59 DEG pi 44m N RaNGEs 1999 m 1 Wit N S Y DSL 674 m D H 1 0D 1146 m L 1239 m Apr23 18 53 23 1 Photo 1 The reformed graphi
25. JAMSTECTR 21 1989 5 D Sv Lc 4L 41 Lc Sy BSE 3 5
26. 1 PC 2 PC 4 3 2 2 4 3 1 JAMSTECTR 21 1989 80K 3 f1
27. C RT 3 K 5 3 JAMSTECTR 21 1989 2 1 0 0 1 4 5S5000 mm K PC RS 422 RS 232C PC
28. 7 10 900 8 9 S lt 10 1 0 A 12 25 3300 360 90 190 2 New Append End Cancel 4 3 2 40 KK 60K 5 3 KK 1 310
29. XY 312 Z XY 4 JAMSTECTR 21 1989 6 Table 6 Glossary of symbolics in the data display mth Hh 2 92 Dy V depth PP PT L S Lc S2 SL2 SL1 X CNT Y CNT C speed
30. 1 3K Fig 1 An acoustic positioning system for Dolphin 3K 300 JAMSTECTR 21 1989 1 3 KK Table 1 1 Specifications of an acouStc positioning system for Dolphin 3K SSBL 2 SSBL 1 2 NE 1 mm 5gk 1 15kHz 3 Es 6 7 8S z 2000 4 65 6 7 3K PC
31. Fig 5 Construction of the program for the monitor mode JAMSTECTR 21 1989 311 5 Table 5 Modificative parameters during executing the on line monitor If 1 0 1 X Y f 5 f 10 3 dimensional display of the beacon positions 3 3 4 i een RE 0 3 AS sc ye NN 3 6 5 SS lt Aa patted soo 9 2 2sS 3 SR PR NOOO I EI TRA EG RNIN nnd display of time series datas 4 Photo 4 CRT graphic display for on line monitor 4 6 a X Y
32. PC 2 PC 3 2 PC 1 RS 232C P C 2 CRT 1 K PC 3 1 C RT PC 3 CRT 305
33. f5 K 1 3 K CRT 2 CRT 5 1 3 4
34. Photo 6 configuration of the system 6 BE JAMSTECTR 21 1989 3 K
35. PC 4 CRT 3 CRT CRT JAMSTECTR 21 1989 WNW gt PIT gt 99 gsi eiphs it foraat 3 wtiae 8 _ 3 CRT Photo 3 CRT
36. graphic display for the tracking mode CRT 1 1 1 0 CRT 4 5
37. c display and the diagram JAMSTECTR 21 1989 303 3 KK FA 3 2 T T V
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